WebSVN - FlightCtrl - Diff - Rev 1922 and 2099 - /branches/dongfang_FC


#--------------------------------------------------------------------
# MCU name
MCU = atmega644p
F_CPU = 20000000
QUARZ = 20MHZ
 
#-------------------------------------------------------------------
VERSION_MAJOR    =  0
VERSION_MINOR    =  0
VERSION_PATCH    =  0
 
VERSION_SERIAL_MAJOR = 10	# Serial Protocol Major Version
VERSION_SERIAL_MINOR = 1	# Serial Protocol Minor Version
NC_SPI_COMPATIBLE =    6  	# SPI Protocol Version
 
 
 
 
 
 
 
# Set up for cross axis gyros. Factors increased by sqrt(2).
#GYRO=ADXRS610_FC2.0
#GYRO_HW_NAME=ADXR
#GYRO_HW_FACTOR="(1.2288f * 1.4142)"
 
#GYRO_CORRECTION=1.0f
 
GYRO=invenSense
GYRO_HW_NAME=Isense
 
GYRO_HW_FACTOR=0.6827f
GYRO_CORRECTION=1.0f
 
#-------------------------------------------------------------------
# get SVN revision
REV=0001
#$(shell sh -c "cat .svn/entries | sed -n '4p'")
 
ifeq ($(MCU), atmega644)
 FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
 HEX_NAME = MEGA644_$(GYRO)
endif
 
ifeq ($(MCU), atmega644p)
 FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
 HEX_NAME = MEGA644p_$(GYRO)
endif
 
# Output format. (can be srec, ihex, binary)
FORMAT = ihex
 
# Target file name (without extension).
 
TARGET = Flight-Ctrl_Fixedwing_$(HEX_NAME)
 
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
OPT = 2
#OPT = s
 
##########################################################################################################
# List C source files here. (C dependencies are automatically generated.)
SRC = main.c uart0.c timer0.c timer2.c analog.c output.c controlMixer.c 
SRC += rc.c failsafeControl.c attitude.c flight.c  printf_P.c commands.c
SRC += eeprom.c configuration.c externalControl.c $(GYRO).c
 
##########################################################################################################
 
# List Assembler source files here.
# Make them always end in a capital .S.  Files ending in a lowercase .s
# will not be considered source files but generated files (assembler
# output from the compiler), and will be deleted upon "make clean"!
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC = 
 
# List any extra directories to look for include files here.
#     Each directory must be seperated by a space.
EXTRAINCDIRS = 
 
 
# Optional compiler flags.
#  -g:        generate debugging information (for GDB, or for COFF conversion)
#  -O*:       optimization level
#  -f...:     tuning, see gcc manual and avr-libc documentation
#  -Wall...:  warning level
#  -Wa,...:   tell GCC to pass this to the assembler.
#    -ahlms:  create assembler listing
CFLAGS = -O$(OPT) \
-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \
-Wall -Wstrict-prototypes \
-DGYRO=$(GYRO) \
-Wa,-adhlns=$(<:.c=.lst) \
$(patsubst %,-I%,$(EXTRAINCDIRS))
 
 
# Set a "language standard" compiler flag.
#   Unremark just one line below to set the language standard to use.
#   gnu99 = C99 + GNU extensions. See GCC manual for more information.
#CFLAGS += -std=c89
#CFLAGS += -std=gnu89
#CFLAGS += -std=c99
CFLAGS += -std=gnu99
 
CFLAGS += -DF_CPU=$(F_CPU) -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DNC_SPI_COMPATIBLE=$(NC_SPI_COMPATIBLE) -DGYRO_HW_NAME=${GYRO_HW_NAME} -DGYRO_HW_FACTOR=${GYRO_HW_FACTOR} -DGYRO_CORRECTION=${GYRO_CORRECTION}
 
# Optional assembler flags.
#  -Wa,...:   tell GCC to pass this to the assembler.
#  -ahlms:    create listing
#  -gstabs:   have the assembler create line number information; note that
#             for use in COFF files, additional information about filenames
#             and function names needs to be present in the assembler source
#             files -- see avr-libc docs [FIXME: not yet described there]
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
 
# Optional linker flags.
#  -Wl,...:   tell GCC to pass this to linker.
#  -Map:      create map file
#  --cref:    add cross reference to  map file
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
 
# Additional libraries
 
# Minimalistic printf version
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min
 
# Floating point printf version (requires -lm below)
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt
 
# -lm = math library
LDFLAGS += -lm
 
 
##LDFLAGS += -T./linkerfile/avr5.x
 
 
# Programming support using avrdude. Settings and variables.
 
# Programming hardware: alf avr910 avrisp bascom bsd 
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
#
# Type: avrdude -c ?
# to get a full listing.
#
#AVRDUDE_PROGRAMMER = dt006
#AVRDUDE_PROGRAMMER = stk200
#AVRDUDE_PROGRAMMER = ponyser
#AVRDUDE_PROGRAMMER = avrispv2
AVRDUDE_PROGRAMMER = usbtiny
 
#falls Ponyser ausgewaehlt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden
 
#AVRDUDE_PORT = com1    # programmer connected to serial device
#AVRDUDE_PORT = lpt1    # programmer connected to parallel port
AVRDUDE_PORT = usb # programmer connected to USB
 
#AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex 
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS)
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
 
#avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex
AVRDUDE_FLAGS = -p $(MCU) -c $(AVRDUDE_PROGRAMMER) -B 1 -F
 
# Uncomment the following if you want avrdude's erase cycle counter.
# Note that this counter needs to be initialized first using -Yn,
# see avrdude manual.
#AVRDUDE_ERASE += -y
 
# Uncomment the following if you do /not/ wish a verification to be
# performed after programming the device.
AVRDUDE_FLAGS += -V
 
# Increase verbosity level.  Please use this when submitting bug
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> 
# to submit bug reports.
#AVRDUDE_FLAGS += -v -v
 
# ---------------------------------------------------------------------------
# Define directories, if needed.
DIRAVR = c:/winavr
DIRAVRBIN = $(DIRAVR)/bin
DIRAVRUTILS = $(DIRAVR)/utils/bin
DIRINC = .
DIRLIB = $(DIRAVR)/avr/lib
 
 
# Define programs and commands.
SHELL = sh
 
CC = avr-gcc
 
OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
SIZE = avr-size
 
# Programming support using avrdude.
AVRDUDE = avrdude
 
REMOVE = rm -f
COPY = cp
 
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
ELFSIZE = $(SIZE) -A $(TARGET).elf
 
# Define Messages
# English
MSG_ERRORS_NONE = Errors: none
MSG_BEGIN = -------- begin --------
MSG_END = --------  end  --------
MSG_SIZE_BEFORE = Size before: 
MSG_SIZE_AFTER = Size after:
MSG_COFF = Converting to AVR COFF:
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
MSG_FLASH = Creating load file for Flash:
MSG_EEPROM = Creating load file for EEPROM:
MSG_EXTENDED_LISTING = Creating Extended Listing:
MSG_SYMBOL_TABLE = Creating Symbol Table:
MSG_LINKING = Linking:
MSG_COMPILING = Compiling:
MSG_ASSEMBLING = Assembling:
MSG_CLEANING = Cleaning project:
 
 
# Define all object files.
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) 
 
# Define all listing files.
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
 
# Combine all necessary flags and optional flags.
# Add target processor to flags.
#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS)
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
 
 
# Default target.
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \
	$(TARGET).lss $(TARGET).sym sizeafter finished end
 
 
# Eye candy.
# AVR Studio 3.x does not check make's exit code but relies on
# the following magic strings to be generated by the compile job.
begin:
	@echo
	@echo $(MSG_BEGIN)
 
finished:
	@echo $(MSG_ERRORS_NONE)
 
end:
	@echo $(MSG_END)
	@echo
 
 
# Display size of file.
sizebefore:
	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
 
sizeafter:
	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
 
 
 
# Display compiler version information.
gccversion : 
	@$(CC) --version
 
 
# Convert ELF to COFF for use in debugging / simulating in
# AVR Studio or VMLAB.
COFFCONVERT=$(OBJCOPY) --debugging \
	--change-section-address .data-0x800000 \
	--change-section-address .bss-0x800000 \
	--change-section-address .noinit-0x800000 \
	--change-section-address .eeprom-0x810000 
 
 
coff: $(TARGET).elf
	@echo
	@echo $(MSG_COFF) $(TARGET).cof
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
 
 
extcoff: $(TARGET).elf
	@echo
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
 
# Program the device.  
program: $(TARGET).hex $(TARGET).eep
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
 
# Create final output files (.hex, .eep) from ELF output file.
%.hex: %.elf
	@echo
	@echo $(MSG_FLASH) $@
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
 
%.eep: %.elf
	@echo
	@echo $(MSG_EEPROM) $@
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
 
# Create extended listing file from ELF output file.
%.lss: %.elf
	@echo
	@echo $(MSG_EXTENDED_LISTING) $@
	$(OBJDUMP) -h -S $< > $@
 
# Create a symbol table from ELF output file.
%.sym: %.elf
	@echo
	@echo $(MSG_SYMBOL_TABLE) $@
	avr-nm -n $< > $@
 
 
 
# Link: create ELF output file from object files.
.SECONDARY : $(TARGET).elf
.PRECIOUS : $(OBJ)
%.elf: $(OBJ)
	@echo
	@echo $(MSG_LINKING) $@
	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
 
 
# Compile: create object files from C source files.
%.o : %.c
	@echo
	@echo $(MSG_COMPILING) $<
	$(CC) -c $(ALL_CFLAGS) $< -o $@
 
 
# Compile: create assembler files from C source files.
%.s : %.c
	$(CC) -S $(ALL_CFLAGS) $< -o $@
 
 
# Assemble: create object files from assembler source files.
%.o : %.S
	@echo
	@echo $(MSG_ASSEMBLING) $<
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
 
 
 
 
 
 
# Target: clean project.
clean: begin clean_list finished end
 
clean_list :
	@echo
	@echo $(MSG_CLEANING)
	$(REMOVE) $(TARGET).hex
	$(REMOVE) $(TARGET).eep
	$(REMOVE) $(TARGET).obj
	$(REMOVE) $(TARGET).cof
	$(REMOVE) $(TARGET).elf
	$(REMOVE) $(TARGET).map
	$(REMOVE) $(TARGET).obj
	$(REMOVE) $(TARGET).a90
	$(REMOVE) $(TARGET).sym
	$(REMOVE) $(TARGET).lnk
	$(REMOVE) $(TARGET).lss
	$(REMOVE) $(OBJ)
	$(REMOVE) $(LST)
	$(REMOVE) $(SRC:.c=.s)
	$(REMOVE) $(SRC:.c=.d)
 
 
# Automatically generate C source code dependencies. 
# (Code originally taken from the GNU make user manual and modified 
# (See README.txt Credits).)
#
# Note that this will work with sh (bash) and sed that is shipped with WinAVR
# (see the SHELL variable defined above).
# This may not work with other shells or other seds.
#
%.d: %.c
	set -e; $(CC) -MM $(ALL_CFLAGS) $< \
	| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \
	[ -s $@ ] || rm -f $@
 
 
# Remove the '-' if you want to see the dependency files generated.
-include $(SRC:.c=.d)
 
 
 
# Listing of phony targets.
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \
	clean clean_list program
 

Rev 1922	Rev 2099
1	#--------------------------------------------------------------------	1	#--------------------------------------------------------------------
2	# MCU name	2	# MCU name
3	MCU = atmega644	3	MCU = atmega644p
4	F_CPU = 20000000	4	F_CPU = 20000000
5	QUARZ = 20MHZ	5	QUARZ = 20MHZ
6		6
7	#-------------------------------------------------------------------	7	#-------------------------------------------------------------------
8	VERSION_MAJOR = 0	8	VERSION_MAJOR = 0
9	VERSION_MINOR = 0	9	VERSION_MINOR = 0
10	VERSION_PATCH = 0	10	VERSION_PATCH = 0
11		11
12	VERSION_SERIAL_MAJOR = 10 # Serial Protocol Major Version	12	VERSION_SERIAL_MAJOR = 10 # Serial Protocol Major Version
13	VERSION_SERIAL_MINOR = 1 # Serial Protocol Minor Version	13	VERSION_SERIAL_MINOR = 1 # Serial Protocol Minor Version
14	NC_SPI_COMPATIBLE = 6 # SPI Protocol Version	14	NC_SPI_COMPATIBLE = 6 # SPI Protocol Version
15		-
16	GYRO=ENC-03_FC1.3	-
17	GYRO_HW_NAME=ENC	-
18	GYRO_HW_FACTOR=1.304f	-
19	GYRO_PITCHROLL_CORRECTION=1.0f	-
20	GYRO_YAW_CORRECTION=1.0f	-
21		15
22	# Set up for cross axis gyros. Factors increased by sqrt(2).	16	# Set up for cross axis gyros. Factors increased by sqrt(2).
23	#GYRO=ADXRS610_FC2.0	17	#GYRO=ADXRS610_FC2.0
24	#GYRO_HW_NAME=ADXR	18	#GYRO_HW_NAME=ADXR
25	#GYRO_HW_FACTOR="(1.2288f * 1.4142)"	19	#GYRO_HW_FACTOR="(1.2288f * 1.4142)"
26	#GYRO_PITCHROLL_CORRECTION=1.0f	-
27	#GYRO_YAW_CORRECTION=1.0f	20	#GYRO_CORRECTION=1.0f
28		21
29	#GYRO=invenSense	22	GYRO=invenSense
30	#GYRO_HW_NAME=Isense	23	GYRO_HW_NAME=Isense
31	#GYRO_HW_FACTOR=0.6827f	-
32	#GYRO_PITCHROLL_CORRECTION=1.0f	24	GYRO_HW_FACTOR=0.6827f
33	#GYRO_YAW_CORRECTION=1.0f	25	GYRO_CORRECTION=1.0f
34		26
35	#-------------------------------------------------------------------	27	#-------------------------------------------------------------------
36	# get SVN revision	28	# get SVN revision
37	REV=0001	29	REV=0001
38	#$(shell sh -c "cat .svn/entries \| sed -n '4p'")	30	#$(shell sh -c "cat .svn/entries \| sed -n '4p'")
39		31
40	ifeq ($(MCU), atmega644)	32	ifeq ($(MCU), atmega644)
41	FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m	33	FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
42	HEX_NAME = MEGA644_$(GYRO)	34	HEX_NAME = MEGA644_$(GYRO)
43	endif	35	endif
44		36
45	ifeq ($(MCU), atmega644p)	37	ifeq ($(MCU), atmega644p)
46	FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m	38	FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
47	HEX_NAME = MEGA644p_$(GYRO)	39	HEX_NAME = MEGA644p_$(GYRO)
48	endif	40	endif
49		41
50	# Output format. (can be srec, ihex, binary)	42	# Output format. (can be srec, ihex, binary)
51	FORMAT = ihex	43	FORMAT = ihex
52		44
53	# Target file name (without extension).	45	# Target file name (without extension).
54		46
55	TARGET = Flight-Ctrl_Fixedwing_$(HEX_NAME)	47	TARGET = Flight-Ctrl_Fixedwing_$(HEX_NAME)
56		48
57	# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.	49	# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
58	# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)	50	# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
59	OPT = 2	51	OPT = 2
60	#OPT = s	52	#OPT = s
61		53
62	##########################################################################################################	54	##########################################################################################################
63	# List C source files here. (C dependencies are automatically generated.)	55	# List C source files here. (C dependencies are automatically generated.)
64	SRC = main.c uart0.c timer0.c timer2.c analog.c output.c controlMixer.c	56	SRC = main.c uart0.c timer0.c timer2.c analog.c output.c controlMixer.c
65	SRC += dongfangMath.c twimaster.c rc.c attitude.c flight.c	57	SRC += rc.c failsafeControl.c attitude.c flight.c printf_P.c commands.c
66	SRC += eeprom.c configuration.c externalControl.c commands.c $(GYRO).c	58	SRC += eeprom.c configuration.c externalControl.c $(GYRO).c
67		59
68	##########################################################################################################	60	##########################################################################################################
69		61
70	# List Assembler source files here.	62	# List Assembler source files here.
71	# Make them always end in a capital .S. Files ending in a lowercase .s	63	# Make them always end in a capital .S. Files ending in a lowercase .s
72	# will not be considered source files but generated files (assembler	64	# will not be considered source files but generated files (assembler
73	# output from the compiler), and will be deleted upon "make clean"!	65	# output from the compiler), and will be deleted upon "make clean"!
74	# Even though the DOS/Win* filesystem matches both .s and .S the same,	66	# Even though the DOS/Win* filesystem matches both .s and .S the same,
75	# it will preserve the spelling of the filenames, and gcc itself does	67	# it will preserve the spelling of the filenames, and gcc itself does
76	# care about how the name is spelled on its command-line.	68	# care about how the name is spelled on its command-line.
77	ASRC =	69	ASRC =
78		70
79	# List any extra directories to look for include files here.	71	# List any extra directories to look for include files here.
80	# Each directory must be seperated by a space.	72	# Each directory must be seperated by a space.
81	EXTRAINCDIRS =	73	EXTRAINCDIRS =
82		74
83		75
84	# Optional compiler flags.	76	# Optional compiler flags.
85	# -g: generate debugging information (for GDB, or for COFF conversion)	77	# -g: generate debugging information (for GDB, or for COFF conversion)
86	# -O*: optimization level	78	# -O*: optimization level
87	# -f...: tuning, see gcc manual and avr-libc documentation	79	# -f...: tuning, see gcc manual and avr-libc documentation
88	# -Wall...: warning level	80	# -Wall...: warning level
89	# -Wa,...: tell GCC to pass this to the assembler.	81	# -Wa,...: tell GCC to pass this to the assembler.
90	# -ahlms: create assembler listing	82	# -ahlms: create assembler listing
91	CFLAGS = -O$(OPT) \	83	CFLAGS = -O$(OPT) \
92	-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \	84	-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \
93	-Wall -Wstrict-prototypes \	85	-Wall -Wstrict-prototypes \
94	-DGYRO=$(GYRO) \	86	-DGYRO=$(GYRO) \
95	-Wa,-adhlns=$(<:.c=.lst) \	87	-Wa,-adhlns=$(<:.c=.lst) \
96	$(patsubst %,-I%,$(EXTRAINCDIRS))	88	$(patsubst %,-I%,$(EXTRAINCDIRS))
97		89
98		90
99	# Set a "language standard" compiler flag.	91	# Set a "language standard" compiler flag.
100	# Unremark just one line below to set the language standard to use.	92	# Unremark just one line below to set the language standard to use.
101	# gnu99 = C99 + GNU extensions. See GCC manual for more information.	93	# gnu99 = C99 + GNU extensions. See GCC manual for more information.
102	#CFLAGS += -std=c89	94	#CFLAGS += -std=c89
103	#CFLAGS += -std=gnu89	95	#CFLAGS += -std=gnu89
104	#CFLAGS += -std=c99	96	#CFLAGS += -std=c99
105	CFLAGS += -std=gnu99	97	CFLAGS += -std=gnu99
106		98
107	CFLAGS += -DF_CPU=$(F_CPU) -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DNC_SPI_COMPATIBLE=$(NC_SPI_COMPATIBLE) -DGYRO_HW_NAME=${GYRO_HW_NAME} -DGYRO_HW_FACTOR=${GYRO_HW_FACTOR} -DGYRO_PITCHROLL_CORRECTION=${GYRO_PITCHROLL_CORRECTION} -DGYRO_YAW_CORRECTION=${GYRO_YAW_CORRECTION}	99	CFLAGS += -DF_CPU=$(F_CPU) -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DNC_SPI_COMPATIBLE=$(NC_SPI_COMPATIBLE) -DGYRO_HW_NAME=${GYRO_HW_NAME} -DGYRO_HW_FACTOR=${GYRO_HW_FACTOR} -DGYRO_CORRECTION=${GYRO_CORRECTION}
108		100
109	# Optional assembler flags.	101	# Optional assembler flags.
110	# -Wa,...: tell GCC to pass this to the assembler.	102	# -Wa,...: tell GCC to pass this to the assembler.
111	# -ahlms: create listing	103	# -ahlms: create listing
112	# -gstabs: have the assembler create line number information; note that	104	# -gstabs: have the assembler create line number information; note that
113	# for use in COFF files, additional information about filenames	105	# for use in COFF files, additional information about filenames
114	# and function names needs to be present in the assembler source	106	# and function names needs to be present in the assembler source
115	# files -- see avr-libc docs [FIXME: not yet described there]	107	# files -- see avr-libc docs [FIXME: not yet described there]
116	ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs	108	ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
117		109
118	# Optional linker flags.	110	# Optional linker flags.
119	# -Wl,...: tell GCC to pass this to linker.	111	# -Wl,...: tell GCC to pass this to linker.
120	# -Map: create map file	112	# -Map: create map file
121	# --cref: add cross reference to map file	113	# --cref: add cross reference to map file
122	LDFLAGS = -Wl,-Map=$(TARGET).map,--cref	114	LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
123		115
124	# Additional libraries	116	# Additional libraries
125		117
126	# Minimalistic printf version	118	# Minimalistic printf version
127	#LDFLAGS += -Wl,-u,vfprintf -lprintf_min	119	#LDFLAGS += -Wl,-u,vfprintf -lprintf_min
128		120
129	# Floating point printf version (requires -lm below)	121	# Floating point printf version (requires -lm below)
130	#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt	122	#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt
131		123
132	# -lm = math library	124	# -lm = math library
133	LDFLAGS += -lm	125	LDFLAGS += -lm
134		126
135		127
136	##LDFLAGS += -T./linkerfile/avr5.x	128	##LDFLAGS += -T./linkerfile/avr5.x
137		129
138		130
139	# Programming support using avrdude. Settings and variables.	131	# Programming support using avrdude. Settings and variables.
140		132
141	# Programming hardware: alf avr910 avrisp bascom bsd	133	# Programming hardware: alf avr910 avrisp bascom bsd
142	# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500	134	# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
143	#	135	#
144	# Type: avrdude -c ?	136	# Type: avrdude -c ?
145	# to get a full listing.	137	# to get a full listing.
146	#	138	#
147	#AVRDUDE_PROGRAMMER = dt006	139	#AVRDUDE_PROGRAMMER = dt006
148	#AVRDUDE_PROGRAMMER = stk200	140	#AVRDUDE_PROGRAMMER = stk200
149	#AVRDUDE_PROGRAMMER = ponyser	141	#AVRDUDE_PROGRAMMER = ponyser
150	#AVRDUDE_PROGRAMMER = avrispv2	142	#AVRDUDE_PROGRAMMER = avrispv2
151	AVRDUDE_PROGRAMMER = usbtiny	143	AVRDUDE_PROGRAMMER = usbtiny
152		144
153	#falls Ponyser ausgewaehlt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden	145	#falls Ponyser ausgewaehlt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden
154		146
155	#AVRDUDE_PORT = com1 # programmer connected to serial device	147	#AVRDUDE_PORT = com1 # programmer connected to serial device
156	#AVRDUDE_PORT = lpt1 # programmer connected to parallel port	148	#AVRDUDE_PORT = lpt1 # programmer connected to parallel port
157	AVRDUDE_PORT = usb # programmer connected to USB	149	AVRDUDE_PORT = usb # programmer connected to USB
158		150
159	#AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex	151	#AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
160	AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS)	152	AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS)
161	#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep	153	#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
162		154
163	#avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex	155	#avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex
164	AVRDUDE_FLAGS = -p $(MCU) -c $(AVRDUDE_PROGRAMMER) -B 1 -F	156	AVRDUDE_FLAGS = -p $(MCU) -c $(AVRDUDE_PROGRAMMER) -B 1 -F
165		157
166	# Uncomment the following if you want avrdude's erase cycle counter.	158	# Uncomment the following if you want avrdude's erase cycle counter.
167	# Note that this counter needs to be initialized first using -Yn,	159	# Note that this counter needs to be initialized first using -Yn,
168	# see avrdude manual.	160	# see avrdude manual.
169	#AVRDUDE_ERASE += -y	161	#AVRDUDE_ERASE += -y
170		162
171	# Uncomment the following if you do /not/ wish a verification to be	163	# Uncomment the following if you do /not/ wish a verification to be
172	# performed after programming the device.	164	# performed after programming the device.
173	AVRDUDE_FLAGS += -V	165	AVRDUDE_FLAGS += -V
174		166
175	# Increase verbosity level. Please use this when submitting bug	167	# Increase verbosity level. Please use this when submitting bug
176	# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>	168	# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
177	# to submit bug reports.	169	# to submit bug reports.
178	#AVRDUDE_FLAGS += -v -v	170	#AVRDUDE_FLAGS += -v -v
179		171
180	# ---------------------------------------------------------------------------	172	# ---------------------------------------------------------------------------
181	# Define directories, if needed.	173	# Define directories, if needed.
182	DIRAVR = c:/winavr	174	DIRAVR = c:/winavr
183	DIRAVRBIN = $(DIRAVR)/bin	175	DIRAVRBIN = $(DIRAVR)/bin
184	DIRAVRUTILS = $(DIRAVR)/utils/bin	176	DIRAVRUTILS = $(DIRAVR)/utils/bin
185	DIRINC = .	177	DIRINC = .
186	DIRLIB = $(DIRAVR)/avr/lib	178	DIRLIB = $(DIRAVR)/avr/lib
187		179
188		180
189	# Define programs and commands.	181	# Define programs and commands.
190	SHELL = sh	182	SHELL = sh
191		183
192	CC = avr-gcc	184	CC = avr-gcc
193		185
194	OBJCOPY = avr-objcopy	186	OBJCOPY = avr-objcopy
195	OBJDUMP = avr-objdump	187	OBJDUMP = avr-objdump
196	SIZE = avr-size	188	SIZE = avr-size
197		189
198	# Programming support using avrdude.	190	# Programming support using avrdude.
199	AVRDUDE = avrdude	191	AVRDUDE = avrdude
200		192
201	REMOVE = rm -f	193	REMOVE = rm -f
202	COPY = cp	194	COPY = cp
203		195
204	HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex	196	HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
205	ELFSIZE = $(SIZE) -A $(TARGET).elf	197	ELFSIZE = $(SIZE) -A $(TARGET).elf
206		198
207	# Define Messages	199	# Define Messages
208	# English	200	# English
209	MSG_ERRORS_NONE = Errors: none	201	MSG_ERRORS_NONE = Errors: none
210	MSG_BEGIN = -------- begin --------	202	MSG_BEGIN = -------- begin --------
211	MSG_END = -------- end --------	203	MSG_END = -------- end --------
212	MSG_SIZE_BEFORE = Size before:	204	MSG_SIZE_BEFORE = Size before:
213	MSG_SIZE_AFTER = Size after:	205	MSG_SIZE_AFTER = Size after:
214	MSG_COFF = Converting to AVR COFF:	206	MSG_COFF = Converting to AVR COFF:
215	MSG_EXTENDED_COFF = Converting to AVR Extended COFF:	207	MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
216	MSG_FLASH = Creating load file for Flash:	208	MSG_FLASH = Creating load file for Flash:
217	MSG_EEPROM = Creating load file for EEPROM:	209	MSG_EEPROM = Creating load file for EEPROM:
218	MSG_EXTENDED_LISTING = Creating Extended Listing:	210	MSG_EXTENDED_LISTING = Creating Extended Listing:
219	MSG_SYMBOL_TABLE = Creating Symbol Table:	211	MSG_SYMBOL_TABLE = Creating Symbol Table:
220	MSG_LINKING = Linking:	212	MSG_LINKING = Linking:
221	MSG_COMPILING = Compiling:	213	MSG_COMPILING = Compiling:
222	MSG_ASSEMBLING = Assembling:	214	MSG_ASSEMBLING = Assembling:
223	MSG_CLEANING = Cleaning project:	215	MSG_CLEANING = Cleaning project:
224		216
225		217
226	# Define all object files.	218	# Define all object files.
227	OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)	219	OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
228		220
229	# Define all listing files.	221	# Define all listing files.
230	LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)	222	LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
231		223
232	# Combine all necessary flags and optional flags.	224	# Combine all necessary flags and optional flags.
233	# Add target processor to flags.	225	# Add target processor to flags.
234	#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS)	226	#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS)
235	ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)	227	ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
236	ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)	228	ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
237		229
238		230
239	# Default target.	231	# Default target.
240	all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \	232	all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \
241	$(TARGET).lss $(TARGET).sym sizeafter finished end	233	$(TARGET).lss $(TARGET).sym sizeafter finished end
242		234
243		235
244	# Eye candy.	236	# Eye candy.
245	# AVR Studio 3.x does not check make's exit code but relies on	237	# AVR Studio 3.x does not check make's exit code but relies on
246	# the following magic strings to be generated by the compile job.	238	# the following magic strings to be generated by the compile job.
247	begin:	239	begin:
248	@echo	240	@echo
249	@echo $(MSG_BEGIN)	241	@echo $(MSG_BEGIN)
250		242
251	finished:	243	finished:
252	@echo $(MSG_ERRORS_NONE)	244	@echo $(MSG_ERRORS_NONE)
253		245
254	end:	246	end:
255	@echo $(MSG_END)	247	@echo $(MSG_END)
256	@echo	248	@echo
257		249
258		250
259	# Display size of file.	251	# Display size of file.
260	sizebefore:	252	sizebefore:
261	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi	253	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
262		254
263	sizeafter:	255	sizeafter:
264	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi	256	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
265		257
266		258
267		259
268	# Display compiler version information.	260	# Display compiler version information.
269	gccversion :	261	gccversion :
270	@$(CC) --version	262	@$(CC) --version
271		263
272		264
273	# Convert ELF to COFF for use in debugging / simulating in	265	# Convert ELF to COFF for use in debugging / simulating in
274	# AVR Studio or VMLAB.	266	# AVR Studio or VMLAB.
275	COFFCONVERT=$(OBJCOPY) --debugging \	267	COFFCONVERT=$(OBJCOPY) --debugging \
276	--change-section-address .data-0x800000 \	268	--change-section-address .data-0x800000 \
277	--change-section-address .bss-0x800000 \	269	--change-section-address .bss-0x800000 \
278	--change-section-address .noinit-0x800000 \	270	--change-section-address .noinit-0x800000 \
279	--change-section-address .eeprom-0x810000	271	--change-section-address .eeprom-0x810000
280		272
281		273
282	coff: $(TARGET).elf	274	coff: $(TARGET).elf
283	@echo	275	@echo
284	@echo $(MSG_COFF) $(TARGET).cof	276	@echo $(MSG_COFF) $(TARGET).cof
285	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof	277	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
286		278
287		279
288	extcoff: $(TARGET).elf	280	extcoff: $(TARGET).elf
289	@echo	281	@echo
290	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof	282	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
291	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof	283	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
292		284
293	# Program the device.	285	# Program the device.
294	program: $(TARGET).hex $(TARGET).eep	286	program: $(TARGET).hex $(TARGET).eep
295	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)	287	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
296		288
297	# Create final output files (.hex, .eep) from ELF output file.	289	# Create final output files (.hex, .eep) from ELF output file.
298	%.hex: %.elf	290	%.hex: %.elf
299	@echo	291	@echo
300	@echo $(MSG_FLASH) $@	292	@echo $(MSG_FLASH) $@
301	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@	293	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
302		294
303	%.eep: %.elf	295	%.eep: %.elf
304	@echo	296	@echo
305	@echo $(MSG_EEPROM) $@	297	@echo $(MSG_EEPROM) $@
306	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \	298	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
307	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@	299	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
308		300
309	# Create extended listing file from ELF output file.	301	# Create extended listing file from ELF output file.
310	%.lss: %.elf	302	%.lss: %.elf
311	@echo	303	@echo
312	@echo $(MSG_EXTENDED_LISTING) $@	304	@echo $(MSG_EXTENDED_LISTING) $@
313	$(OBJDUMP) -h -S $< > $@	305	$(OBJDUMP) -h -S $< > $@
314		306
315	# Create a symbol table from ELF output file.	307	# Create a symbol table from ELF output file.
316	%.sym: %.elf	308	%.sym: %.elf
317	@echo	309	@echo
318	@echo $(MSG_SYMBOL_TABLE) $@	310	@echo $(MSG_SYMBOL_TABLE) $@
319	avr-nm -n $< > $@	311	avr-nm -n $< > $@
320		312
321		313
322		314
323	# Link: create ELF output file from object files.	315	# Link: create ELF output file from object files.
324	.SECONDARY : $(TARGET).elf	316	.SECONDARY : $(TARGET).elf
325	.PRECIOUS : $(OBJ)	317	.PRECIOUS : $(OBJ)
326	%.elf: $(OBJ)	318	%.elf: $(OBJ)
327	@echo	319	@echo
328	@echo $(MSG_LINKING) $@	320	@echo $(MSG_LINKING) $@
329	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)	321	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
330		322
331		323
332	# Compile: create object files from C source files.	324	# Compile: create object files from C source files.
333	%.o : %.c	325	%.o : %.c
334	@echo	326	@echo
335	@echo $(MSG_COMPILING) $<	327	@echo $(MSG_COMPILING) $<
336	$(CC) -c $(ALL_CFLAGS) $< -o $@	328	$(CC) -c $(ALL_CFLAGS) $< -o $@
337		329
338		330
339	# Compile: create assembler files from C source files.	331	# Compile: create assembler files from C source files.
340	%.s : %.c	332	%.s : %.c
341	$(CC) -S $(ALL_CFLAGS) $< -o $@	333	$(CC) -S $(ALL_CFLAGS) $< -o $@
342		334
343		335
344	# Assemble: create object files from assembler source files.	336	# Assemble: create object files from assembler source files.
345	%.o : %.S	337	%.o : %.S
346	@echo	338	@echo
347	@echo $(MSG_ASSEMBLING) $<	339	@echo $(MSG_ASSEMBLING) $<
348	$(CC) -c $(ALL_ASFLAGS) $< -o $@	340	$(CC) -c $(ALL_ASFLAGS) $< -o $@
349		341
350		342
351		343
352		344
353		345
354		346
355	# Target: clean project.	347	# Target: clean project.
356	clean: begin clean_list finished end	348	clean: begin clean_list finished end
357		349
358	clean_list :	350	clean_list :
359	@echo	351	@echo
360	@echo $(MSG_CLEANING)	352	@echo $(MSG_CLEANING)
361	# $(REMOVE) $(TARGET).hex	353	$(REMOVE) $(TARGET).hex
362	$(REMOVE) $(TARGET).eep	354	$(REMOVE) $(TARGET).eep
363	$(REMOVE) $(TARGET).obj	355	$(REMOVE) $(TARGET).obj
364	$(REMOVE) $(TARGET).cof	356	$(REMOVE) $(TARGET).cof
365	$(REMOVE) $(TARGET).elf	357	$(REMOVE) $(TARGET).elf
366	$(REMOVE) $(TARGET).map	358	$(REMOVE) $(TARGET).map
367	$(REMOVE) $(TARGET).obj	359	$(REMOVE) $(TARGET).obj
368	$(REMOVE) $(TARGET).a90	360	$(REMOVE) $(TARGET).a90
369	$(REMOVE) $(TARGET).sym	361	$(REMOVE) $(TARGET).sym
370	$(REMOVE) $(TARGET).lnk	362	$(REMOVE) $(TARGET).lnk
371	$(REMOVE) $(TARGET).lss	363	$(REMOVE) $(TARGET).lss
372	$(REMOVE) $(OBJ)	364	$(REMOVE) $(OBJ)
373	$(REMOVE) $(LST)	365	$(REMOVE) $(LST)
374	$(REMOVE) $(SRC:.c=.s)	366	$(REMOVE) $(SRC:.c=.s)
375	$(REMOVE) $(SRC:.c=.d)	367	$(REMOVE) $(SRC:.c=.d)
376		368
377		369
378	# Automatically generate C source code dependencies.	370	# Automatically generate C source code dependencies.
379	# (Code originally taken from the GNU make user manual and modified	371	# (Code originally taken from the GNU make user manual and modified
380	# (See README.txt Credits).)	372	# (See README.txt Credits).)
381	#	373	#
382	# Note that this will work with sh (bash) and sed that is shipped with WinAVR	374	# Note that this will work with sh (bash) and sed that is shipped with WinAVR
383	# (see the SHELL variable defined above).	375	# (see the SHELL variable defined above).
384	# This may not work with other shells or other seds.	376	# This may not work with other shells or other seds.
385	#	377	#
386	%.d: %.c	378	%.d: %.c
387	set -e; $(CC) -MM $(ALL_CFLAGS) $< \	379	set -e; $(CC) -MM $(ALL_CFLAGS) $< \
388	\| sed 's,\(.\)\.o[ :],\1.o \1.d : ,g' > $@; \	380	\| sed 's,\(.\)\.o[ :],\1.o \1.d : ,g' > $@; \
389	[ -s $@ ] \|\| rm -f $@	381	[ -s $@ ] \|\| rm -f $@
390		382
391		383
392	# Remove the '-' if you want to see the dependency files generated.	384	# Remove the '-' if you want to see the dependency files generated.
393	-include $(SRC:.c=.d)	385	-include $(SRC:.c=.d)
394		386
395		387
396		388
397	# Listing of phony targets.	389	# Listing of phony targets.
398	.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \	390	.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \
399	clean clean_list program	391	clean clean_list program
400		392

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